Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances

Title: Integral IDA-PBC for Underactuated Mechanical Systems Subject to Matched and Unmatched Disturbances
Creator: Franco, Enrico; Arpenti, Pierluigi; Donaire, Alejandro; Ruggiero, Fabio
Relation: IEEE Control Systems Letters Vol. 8, p. 568-573
Publisher Link: http://dx.doi.org/10.1109/LCSYS.2024.3399474
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2024
Description: This letter presents a new formulation of the integral interconnection and damping-assignment passivity-based control methodology for underactuated mechanical systems subject to both matched and unmatched disturbances, either constant or position-dependent. The new controller is also applicable to systems with non-constant input matrix. Simulations results on two examples demonstrate its effectiveness.
Subject: uncertain systems; robust adaptive control; control applications; regulation
Identifier: http://hdl.handle.net/1959.13/1505980
Identifier: uon:55789
Identifier: ISSN:2475-1456
Language: eng
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